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<a href="#pub-types">Public 类型</a> &#124;
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<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::io::OrganizedPointCloudCompression&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><code>#include &lt;<a class="el" href="organized__pointcloud__compression_8h_source.html">organized_pointcloud_compression.h</a>&gt;</code></p>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#af2ccfe643c604980492fd7a374d77a51">OrganizedPointCloudCompression</a> ()</td></tr>
<tr class="memdesc:af2ccfe643c604980492fd7a374d77a51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty Constructor. <br /></td></tr>
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<tr class="memitem:a6049d0fba6f0c73f51dd144375b500f5"><td class="memItemLeft" align="right" valign="top"><a id="a6049d0fba6f0c73f51dd144375b500f5"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a6049d0fba6f0c73f51dd144375b500f5">~OrganizedPointCloudCompression</a> ()</td></tr>
<tr class="memdesc:a6049d0fba6f0c73f51dd144375b500f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty deconstructor. <br /></td></tr>
<tr class="separator:a6049d0fba6f0c73f51dd144375b500f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a60f35343fb295b9bef39da3c90ce84bc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a60f35343fb295b9bef39da3c90ce84bc">encodePointCloud</a> (const PointCloudConstPtr &amp;cloud_arg, std::ostream &amp;compressedDataOut_arg, bool doColorEncoding=false, bool convertToMono=false, bool bShowStatistics_arg=true, int pngLevel_arg=-1)</td></tr>
<tr class="memdesc:a60f35343fb295b9bef39da3c90ce84bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Encode point cloud to output stream  <a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a60f35343fb295b9bef39da3c90ce84bc">更多...</a><br /></td></tr>
<tr class="separator:a60f35343fb295b9bef39da3c90ce84bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3726b860fbc225e92938837bdd1cdc00"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a3726b860fbc225e92938837bdd1cdc00">encodeRawDisparityMapWithColorImage</a> (std::vector&lt; uint16_t &gt; &amp;disparityMap_arg, std::vector&lt; uint8_t &gt; &amp;colorImage_arg, uint32_t width_arg, uint32_t height_arg, std::ostream &amp;compressedDataOut_arg, bool doColorEncoding=false, bool convertToMono=false, bool bShowStatistics_arg=true, int pngLevel_arg=-1, float focalLength_arg=525.0f, float disparityShift_arg=174.825f, float disparityScale_arg=-0.161175f)</td></tr>
<tr class="memdesc:a3726b860fbc225e92938837bdd1cdc00"><td class="mdescLeft">&#160;</td><td class="mdescRight">Encode raw disparity map and color image.  <a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a3726b860fbc225e92938837bdd1cdc00">更多...</a><br /></td></tr>
<tr class="separator:a3726b860fbc225e92938837bdd1cdc00"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b003417b7c2c32ad572194146d30273"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a9b003417b7c2c32ad572194146d30273">decodePointCloud</a> (std::istream &amp;compressedDataIn_arg, PointCloudPtr &amp;cloud_arg, bool bShowStatistics_arg=true)</td></tr>
<tr class="memdesc:a9b003417b7c2c32ad572194146d30273"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decode point cloud from input stream  <a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a9b003417b7c2c32ad572194146d30273">更多...</a><br /></td></tr>
<tr class="separator:a9b003417b7c2c32ad572194146d30273"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ab75391bec48adf2361ac0aeec32089cd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#ab75391bec48adf2361ac0aeec32089cd">analyzeOrganizedCloud</a> (PointCloudConstPtr cloud_arg, float &amp;maxDepth_arg, float &amp;focalLength_arg) const</td></tr>
<tr class="memdesc:ab75391bec48adf2361ac0aeec32089cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Analyze input point cloud and calculate the maximum depth and focal length  <a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#ab75391bec48adf2361ac0aeec32089cd">更多...</a><br /></td></tr>
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Private 属性</h2></td></tr>
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openni_wrapper::ShiftToDepthConverter&#160;</td><td class="memItemRight" valign="bottom"><b>sd_converter_</b></td></tr>
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静态 Private 属性</h2></td></tr>
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static const char *&#160;</td><td class="memItemRight" valign="bottom"><b>frameHeaderIdentifier_</b> = &quot;&lt;PCL-ORG-COMPRESSED&gt;&quot;</td></tr>
<tr class="separator:aeba5a69937ca1150cfef8b00550fa6c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::io::OrganizedPointCloudCompression&lt; PointT &gt;</h3>

<dl class="section author"><dt>作者</dt><dd>Julius Kammerl (<a href="#" onclick="location.href='mai'+'lto:'+'jul'+'iu'+'s@k'+'am'+'mer'+'l.'+'de'; return false;">juliu<span style="display: none;">.nosp@m.</span>s@ka<span style="display: none;">.nosp@m.</span>mmerl<span style="display: none;">.nosp@m.</span>.de</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="ab75391bec48adf2361ac0aeec32089cd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab75391bec48adf2361ac0aeec32089cd">&#9670;&nbsp;</a></span>analyzeOrganizedCloud()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html">pcl::io::OrganizedPointCloudCompression</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::analyzeOrganizedCloud </td>
          <td>(</td>
          <td class="paramtype">PointCloudConstPtr&#160;</td>
          <td class="paramname"><em>cloud_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>maxDepth_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float &amp;&#160;</td>
          <td class="paramname"><em>focalLength_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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</div><div class="memdoc">

<p>Analyze input point cloud and calculate the maximum depth and focal length </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_arg</td><td>input point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">maxDepth_arg</td><td>calculated maximum depth </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">focalLength_arg</td><td>estimated focal length </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    {</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="keywordtype">size_t</span> width, height, it;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="keywordtype">int</span> centerX, centerY;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      <span class="keywordtype">int</span> x, y;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="keywordtype">float</span> maxDepth;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keywordtype">float</span> focalLength;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      width = cloud_arg-&gt;width;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      height = cloud_arg-&gt;height;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <span class="comment">// Center of organized point cloud</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      centerX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (width / 2);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      centerY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (height / 2);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <span class="comment">// Ensure we have an organized point cloud</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      assert((width&gt;1) &amp;&amp; (height&gt;1));</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      assert(width*height == cloud_arg-&gt;points.size());</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      maxDepth = 0;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      focalLength = 0;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      it = 0;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="keywordflow">for</span> (y = -centerY; y &lt; +centerY; ++y)</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="keywordflow">for</span> (x = -centerX; x &lt; +centerX; ++x)</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = cloud_arg-&gt;points[it++];</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          <span class="keywordflow">if</span> (pcl::isFinite (point))</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;          {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;            <span class="keywordflow">if</span> (maxDepth &lt; point.z)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;            {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;              <span class="comment">// Update maximum depth</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;              maxDepth = point.z;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;              <span class="comment">// Calculate focal length</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;              focalLength = 2.0f / (point.x / (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x) * point.z) + point.y / (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y) * point.z));</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;            }</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;          }</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        }</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="comment">// Update return values</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      maxDepth_arg = maxDepth;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      focalLength_arg = focalLength;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    }</div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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<a id="a9b003417b7c2c32ad572194146d30273"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9b003417b7c2c32ad572194146d30273">&#9670;&nbsp;</a></span>decodePointCloud()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html">pcl::io::OrganizedPointCloudCompression</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::decodePointCloud </td>
          <td>(</td>
          <td class="paramtype">std::istream &amp;&#160;</td>
          <td class="paramname"><em>compressedDataIn_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PointCloudPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>bShowStatistics_arg</em> = <code>true</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Decode point cloud from input stream </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">compressedDataIn_arg</td><td>binary input stream containing compressed data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud_arg</td><td>reference to decoded point cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">bShowStatistics_arg</td><td>show compression statistics during decoding </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>false if an I/O error occured. </dd></dl>
<div class="fragment"><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      uint32_t cloud_width;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      uint32_t cloud_height;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keywordtype">float</span> maxDepth;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keywordtype">float</span> focalLength;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordtype">float</span> disparityShift = 0.0f;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keywordtype">float</span> disparityScale;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="comment">// disparity and rgb image data</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      std::vector&lt;uint16_t&gt; disparityData;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      std::vector&lt;uint8_t&gt; colorData;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="comment">// compressed disparity and rgb image data</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      std::vector&lt;uint8_t&gt; compressedDisparity;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      std::vector&lt;uint8_t&gt; compressedColor;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      uint32_t compressedDisparitySize;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      uint32_t compressedColorSize;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="comment">// PNG decoded parameters</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <span class="keywordtype">size_t</span> png_width = 0;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keywordtype">size_t</span> png_height = 0;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> png_channels = 1;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="comment">// sync to frame header</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> headerIdPos = 0;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordtype">bool</span> valid_stream = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      <span class="keywordflow">while</span> (valid_stream &amp;&amp; (headerIdPos &lt; strlen (frameHeaderIdentifier_)))</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      {</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordtype">char</span> readChar;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        compressedDataIn_arg.read (<span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;readChar), <span class="keyword">sizeof</span> (readChar));</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        <span class="keywordflow">if</span> (compressedDataIn_arg.gcount()!= sizeof (readChar))</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          valid_stream = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">if</span> (readChar != frameHeaderIdentifier_[headerIdPos++])</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          headerIdPos = (frameHeaderIdentifier_[0] == readChar) ? 1 : 0;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        valid_stream &amp;= compressedDataIn_arg.good ();</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      }</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keywordflow">if</span> (valid_stream) {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="comment">// reading frame header</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;cloud_width), <span class="keyword">sizeof</span> (cloud_width));</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;cloud_height), <span class="keyword">sizeof</span> (cloud_height));</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;maxDepth), <span class="keyword">sizeof</span> (maxDepth));</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;focalLength), <span class="keyword">sizeof</span> (focalLength));</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;disparityScale), <span class="keyword">sizeof</span> (disparityScale));</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;disparityShift), <span class="keyword">sizeof</span> (disparityShift));</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="comment">// reading compressed disparity data</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedDisparitySize), <span class="keyword">sizeof</span> (compressedDisparitySize));</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        compressedDisparity.resize (compressedDisparitySize);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedDisparity[0]), compressedDisparitySize * <span class="keyword">sizeof</span>(uint8_t));</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="comment">// reading compressed rgb data</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedColorSize), <span class="keyword">sizeof</span> (compressedColorSize));</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        compressedColor.resize (compressedColorSize);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        compressedDataIn_arg.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedColor[0]), compressedColorSize * <span class="keyword">sizeof</span>(uint8_t));</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="comment">// decode PNG compressed disparity data</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        decodePNGToImage (compressedDisparity, disparityData, png_width, png_height, png_channels);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="comment">// decode PNG compressed rgb data</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        decodePNGToImage (compressedColor, colorData, png_width, png_height, png_channels);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      }</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keywordflow">if</span> (disparityShift==0.0f)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        <span class="comment">// reconstruct point cloud</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        OrganizedConversion&lt;PointT&gt;::convert (disparityData,</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                                              colorData,</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                                              <span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span>(png_channels==1),</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                                              cloud_width,</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                                              cloud_height,</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;                                              focalLength,</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;                                              disparityShift,</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                                              disparityScale,</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;                                              *cloud_arg);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="comment">// we need to decode a raw shift image</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        std::size_t size = disparityData.size();</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        std::vector&lt;float&gt; depthData;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        depthData.resize(size);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="comment">// initialize shift-to-depth converter</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <span class="keywordflow">if</span> (!sd_converter_.isInitialized())</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;          sd_converter_.generateLookupTable();</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <span class="comment">// convert shift to depth image</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        <span class="keywordflow">for</span> (std::size_t i=0; i&lt;size; ++i)</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;          depthData[i] = sd_converter_.shiftToDepth(disparityData[i]);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        <span class="comment">// reconstruct point cloud</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        OrganizedConversion&lt;PointT&gt;::convert (depthData,</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;                                              colorData,</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;                                              <span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span>(png_channels==1),</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;                                              cloud_width,</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;                                              cloud_height,</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                                              focalLength,</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;                                              *cloud_arg);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      <span class="keywordflow">if</span> (bShowStatistics_arg)</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      {</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        uint64_t pointCount = cloud_width * cloud_height;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="keywordtype">float</span> bytesPerPoint = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (compressedDisparitySize+compressedColorSize) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pointCount);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;*** POINTCLOUD DECODING ***\n&quot;</span>);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Number of encoded points: %ld\n&quot;</span>, pointCount);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Size of uncompressed point cloud: %.2f kBytes\n&quot;</span>, (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pointCount) * CompressionPointTraits&lt;PointT&gt;::bytesPerPoint) / 1024.0f);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Size of compressed point cloud: %.2f kBytes\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (compressedDisparitySize+compressedColorSize) / 1024.0f);</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Total bytes per point: %.4f bytes\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (bytesPerPoint));</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Total compression percentage: %.4f%%\n&quot;</span>, (bytesPerPoint) / (CompressionPointTraits&lt;PointT&gt;::bytesPerPoint) * 100.0f);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Compression ratio: %.2f\n\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (CompressionPointTraits&lt;PointT&gt;::bytesPerPoint) / bytesPerPoint);</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keywordflow">return</span> valid_stream;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a60f35343fb295b9bef39da3c90ce84bc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a60f35343fb295b9bef39da3c90ce84bc">&#9670;&nbsp;</a></span>encodePointCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html">pcl::io::OrganizedPointCloudCompression</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::encodePointCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::ostream &amp;&#160;</td>
          <td class="paramname"><em>compressedDataOut_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>doColorEncoding</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>convertToMono</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>bShowStatistics_arg</em> = <code>true</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>pngLevel_arg</em> = <code>-1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Encode point cloud to output stream </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_arg</td><td>point cloud to be compressed </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">compressedDataOut_arg</td><td>binary output stream containing compressed data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">doColorEncoding</td><td>encode color information (if available) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">convertToMono</td><td>convert rgb to mono </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pngLevel_arg</td><td>png compression level (default compression: -1) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">bShowStatistics_arg</td><td>show statistics </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      uint32_t cloud_width = cloud_arg-&gt;width;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      uint32_t cloud_height = cloud_arg-&gt;height;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordtype">float</span> maxDepth, focalLength, disparityShift, disparityScale;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="comment">// no disparity scaling/shifting required during decoding</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      disparityScale = 1.0f;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      disparityShift = 0.0f;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <a class="code" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#ab75391bec48adf2361ac0aeec32089cd">analyzeOrganizedCloud</a> (cloud_arg, maxDepth, focalLength);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="comment">// encode header identifier</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (frameHeaderIdentifier_), strlen (frameHeaderIdentifier_));</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="comment">// encode point cloud width</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;cloud_width), <span class="keyword">sizeof</span> (cloud_width));</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="comment">// encode frame type height</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;cloud_height), <span class="keyword">sizeof</span> (cloud_height));</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="comment">// encode frame max depth</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;maxDepth), <span class="keyword">sizeof</span> (maxDepth));</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="comment">// encode frame focal lenght</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;focalLength), <span class="keyword">sizeof</span> (focalLength));</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="comment">// encode frame disparity scale</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;disparityScale), <span class="keyword">sizeof</span> (disparityScale));</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="comment">// encode frame disparity shift</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;disparityShift), <span class="keyword">sizeof</span> (disparityShift));</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="comment">// disparity and rgb image data</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      std::vector&lt;uint16_t&gt; disparityData;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      std::vector&lt;uint8_t&gt; colorData;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="comment">// compressed disparity and rgb image data</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      std::vector&lt;uint8_t&gt; compressedDisparity;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      std::vector&lt;uint8_t&gt; compressedColor;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      uint32_t compressedDisparitySize = 0;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      uint32_t compressedColorSize = 0;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="comment">// Convert point cloud to disparity and rgb image</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      OrganizedConversion&lt;PointT&gt;::convert (*cloud_arg, focalLength, disparityShift, disparityScale, convertToMono,  disparityData, colorData);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="comment">// Compress disparity information</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      encodeMonoImageToPNG (disparityData, cloud_width, cloud_height, compressedDisparity, pngLevel_arg);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      compressedDisparitySize = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(compressedDisparity.size());</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="comment">// Encode size of compressed disparity image data</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedDisparitySize), <span class="keyword">sizeof</span> (compressedDisparitySize));</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="comment">// Output compressed disparity to ostream</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedDisparity[0]), compressedDisparity.size () * <span class="keyword">sizeof</span>(uint8_t));</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="comment">// Compress color information</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordflow">if</span> (CompressionPointTraits&lt;PointT&gt;::hasColor &amp;&amp; doColorEncoding)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">if</span> (convertToMono)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          encodeMonoImageToPNG (colorData, cloud_width, cloud_height, compressedColor, 1 <span class="comment">/*Z_BEST_SPEED*/</span>);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          encodeRGBImageToPNG (colorData, cloud_width, cloud_height, compressedColor, 1 <span class="comment">/*Z_BEST_SPEED*/</span>);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      compressedColorSize = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(compressedColor.size ());</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="comment">// Encode size of compressed Color image data</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedColorSize), <span class="keyword">sizeof</span> (compressedColorSize));</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="comment">// Output compressed disparity to ostream</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedColor[0]), compressedColor.size () * <span class="keyword">sizeof</span>(uint8_t));</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordflow">if</span> (bShowStatistics_arg)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        uint64_t pointCount = cloud_width * cloud_height;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keywordtype">float</span> bytesPerPoint = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (compressedDisparitySize+compressedColorSize) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pointCount);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;*** POINTCLOUD ENCODING ***\n&quot;</span>);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Number of encoded points: %ld\n&quot;</span>, pointCount);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Size of uncompressed point cloud: %.2f kBytes\n&quot;</span>, (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pointCount) * CompressionPointTraits&lt;PointT&gt;::bytesPerPoint) / 1024.0f);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Size of compressed point cloud: %.2f kBytes\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (compressedDisparitySize+compressedColorSize) / 1024.0f);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Total bytes per point: %.4f bytes\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (bytesPerPoint));</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Total compression percentage: %.4f%%\n&quot;</span>, (bytesPerPoint) / (CompressionPointTraits&lt;PointT&gt;::bytesPerPoint) * 100.0f);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        PCL_INFO(<span class="stringliteral">&quot;Compression ratio: %.2f\n\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (CompressionPointTraits&lt;PointT&gt;::bytesPerPoint) / bytesPerPoint);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="comment">// flush output stream</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      compressedDataOut_arg.flush();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1io_1_1_organized_point_cloud_compression_html_ab75391bec48adf2361ac0aeec32089cd"><div class="ttname"><a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#ab75391bec48adf2361ac0aeec32089cd">pcl::io::OrganizedPointCloudCompression::analyzeOrganizedCloud</a></div><div class="ttdeci">void analyzeOrganizedCloud(PointCloudConstPtr cloud_arg, float &amp;maxDepth_arg, float &amp;focalLength_arg) const</div><div class="ttdoc">Analyze input point cloud and calculate the maximum depth and focal length</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_compression.hpp:404</div></div>
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<a id="a3726b860fbc225e92938837bdd1cdc00"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3726b860fbc225e92938837bdd1cdc00">&#9670;&nbsp;</a></span>encodeRawDisparityMapWithColorImage()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html">pcl::io::OrganizedPointCloudCompression</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::encodeRawDisparityMapWithColorImage </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; uint16_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>disparityMap_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; uint8_t &gt; &amp;&#160;</td>
          <td class="paramname"><em>colorImage_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>width_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">uint32_t&#160;</td>
          <td class="paramname"><em>height_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::ostream &amp;&#160;</td>
          <td class="paramname"><em>compressedDataOut_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>doColorEncoding</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>convertToMono</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>bShowStatistics_arg</em> = <code>true</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>pngLevel_arg</em> = <code>-1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>focalLength_arg</em> = <code>525.0f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>disparityShift_arg</em> = <code>174.825f</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>disparityScale_arg</em> = <code>-0.161175f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Encode raw disparity map and color image. </p>
<dl class="section note"><dt>注解</dt><dd>Default values are configured according to the kinect/asus device specifications </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">disparityMap_arg</td><td>pointer to raw 16-bit disparity map </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">colorImage_arg</td><td>pointer to raw 8-bit rgb color image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">width_arg</td><td>width of disparity map/color image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">height_arg</td><td>height of disparity map/color image </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">compressedDataOut_arg</td><td>binary output stream containing compressed data </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">doColorEncoding</td><td>encode color information (if available) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">convertToMono</td><td>convert rgb to mono </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pngLevel_arg</td><td>png compression level (default compression: -1) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">bShowStatistics_arg</td><td>show statistics </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">focalLength_arg</td><td>focal length </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">disparityShift_arg</td><td>disparity shift </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">disparityScale_arg</td><td>disparity scaling </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;       <span class="keywordtype">float</span> maxDepth = -1;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;       <span class="keywordtype">size_t</span> cloud_size = width_arg*height_arg;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;       assert (disparityMap_arg.size()==cloud_size);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;       <span class="keywordflow">if</span> (colorImage_arg.size())</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;       {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;         assert (colorImage_arg.size()==cloud_size*3);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;       }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;       <span class="comment">// encode header identifier</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (frameHeaderIdentifier_), strlen (frameHeaderIdentifier_));</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;       <span class="comment">// encode point cloud width</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;width_arg), <span class="keyword">sizeof</span> (width_arg));</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;       <span class="comment">// encode frame type height</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;height_arg), <span class="keyword">sizeof</span> (height_arg));</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;       <span class="comment">// encode frame max depth</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;maxDepth), <span class="keyword">sizeof</span> (maxDepth));</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;       <span class="comment">// encode frame focal lenght</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;focalLength_arg), <span class="keyword">sizeof</span> (focalLength_arg));</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;       <span class="comment">// encode frame disparity scale</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;disparityScale_arg), <span class="keyword">sizeof</span> (disparityScale_arg));</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;       <span class="comment">// encode frame disparity shift</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;disparityShift_arg), <span class="keyword">sizeof</span> (disparityShift_arg));</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;       <span class="comment">// compressed disparity and rgb image data</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;       std::vector&lt;uint8_t&gt; compressedDisparity;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;       std::vector&lt;uint8_t&gt; compressedColor;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;       uint32_t compressedDisparitySize = 0;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;       uint32_t compressedColorSize = 0;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;       <span class="comment">// Remove color information of invalid points</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;       uint16_t* depth_ptr = &amp;disparityMap_arg[0];</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;       uint8_t* color_ptr = &amp;colorImage_arg[0];</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;       <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;       <span class="keywordflow">for</span> (i=0; i&lt;cloud_size; ++i, ++depth_ptr, color_ptr+=<span class="keyword">sizeof</span>(uint8_t)*3)</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;       {</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;         <span class="keywordflow">if</span> (!(*depth_ptr) || (*depth_ptr==0x7FF))</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;           memset(color_ptr, 0, <span class="keyword">sizeof</span>(uint8_t)*3);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;       }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;       <span class="comment">// Compress disparity information</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;       encodeMonoImageToPNG (disparityMap_arg, width_arg, height_arg, compressedDisparity, pngLevel_arg);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;       compressedDisparitySize = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(compressedDisparity.size());</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;       <span class="comment">// Encode size of compressed disparity image data</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedDisparitySize), <span class="keyword">sizeof</span> (compressedDisparitySize));</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;       <span class="comment">// Output compressed disparity to ostream</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedDisparity[0]), compressedDisparity.size () * <span class="keyword">sizeof</span>(uint8_t));</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;       <span class="comment">// Compress color information</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;       <span class="keywordflow">if</span> (colorImage_arg.size() &amp;&amp; doColorEncoding)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;       {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;         <span class="keywordflow">if</span> (convertToMono)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;         {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;           <span class="keywordtype">size_t</span> i, size;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;           vector&lt;uint8_t&gt; monoImage;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;           size = width_arg*height_arg;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;           monoImage.reserve(size);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;           <span class="comment">// grayscale conversion</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;           <span class="keywordflow">for</span> (i=0; i&lt;size; ++i)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;           {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;             uint8_t grayvalue = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span>(0.2989 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(colorImage_arg[i*3+0]) +</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                                                      0.5870 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(colorImage_arg[i*3+1]) +</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                                                      0.1140 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(colorImage_arg[i*3+2]));</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;             monoImage.push_back(grayvalue);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;           }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;           encodeMonoImageToPNG (monoImage, width_arg, height_arg, compressedColor, 1 <span class="comment">/*Z_BEST_SPEED*/</span>);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;         } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;         {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;           encodeRGBImageToPNG (colorImage_arg, width_arg, height_arg, compressedColor, 1 <span class="comment">/*Z_BEST_SPEED*/</span>);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;         }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;       }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;       compressedColorSize = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(compressedColor.size ());</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;       <span class="comment">// Encode size of compressed Color image data</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedColorSize), <span class="keyword">sizeof</span> (compressedColorSize));</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;       <span class="comment">// Output compressed disparity to ostream</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;       compressedDataOut_arg.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;compressedColor[0]), compressedColor.size () * <span class="keyword">sizeof</span>(uint8_t));</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;       <span class="keywordflow">if</span> (bShowStatistics_arg)</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;       {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;         uint64_t pointCount = width_arg * height_arg;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;         <span class="keywordtype">float</span> bytesPerPoint = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (compressedDisparitySize+compressedColorSize) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pointCount);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;         PCL_INFO(<span class="stringliteral">&quot;*** POINTCLOUD ENCODING ***\n&quot;</span>);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;         PCL_INFO(<span class="stringliteral">&quot;Number of encoded points: %ld\n&quot;</span>, pointCount);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;         PCL_INFO(<span class="stringliteral">&quot;Size of uncompressed disparity map+color image: %.2f kBytes\n&quot;</span>, (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pointCount) * (<span class="keyword">sizeof</span>(uint8_t)*3+<span class="keyword">sizeof</span>(uint16_t))) / 1024.0f);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;         PCL_INFO(<span class="stringliteral">&quot;Size of compressed point cloud: %.2f kBytes\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (compressedDisparitySize+compressedColorSize) / 1024.0f);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;         PCL_INFO(<span class="stringliteral">&quot;Total bytes per point: %.4f bytes\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (bytesPerPoint));</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;         PCL_INFO(<span class="stringliteral">&quot;Total compression percentage: %.4f%%\n&quot;</span>, (bytesPerPoint) / (<span class="keyword">sizeof</span>(uint8_t)*3+<span class="keyword">sizeof</span>(uint16_t)) * 100.0f);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;         PCL_INFO(<span class="stringliteral">&quot;Compression ratio: %.2f\n\n&quot;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (CompressionPointTraits&lt;PointT&gt;::bytesPerPoint) / bytesPerPoint);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;       }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;       <span class="comment">// flush output stream</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;       compressedDataOut_arg.flush();</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>io/include/pcl/compression/<a class="el" href="organized__pointcloud__compression_8h_source.html">organized_pointcloud_compression.h</a></li>
<li>io/include/pcl/compression/impl/<a class="el" href="organized__pointcloud__compression_8hpp_source.html">organized_pointcloud_compression.hpp</a></li>
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